ArActionRatioInput.h

/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007 MobileRobots Inc.

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
*/

#ifndef ARACTIONRATIOINPUT_H
#define ARACTIONRATIOINPUT_H

#include "ariaTypedefs.h"
#include "ArAction.h"


class ArActionRatioInput : public ArAction
{
public:
  AREXPORT ArActionRatioInput(const char *name = "RatioInput");
  AREXPORT virtual ~ArActionRatioInput();
  AREXPORT void setRatios(double transRatio, double rotRatio, 
              double throttleRatio);
  AREXPORT void setTransRatio(double transRatio);
  AREXPORT void setRotRatio(double rotRatio);
  AREXPORT void setThrottleRatio(double throttleRatio);
  double getTransRatio(void) { return myTransRatio; }
  double getRotRatio(void) { return myRotRatio; }
  double getThrottleRatio(void) { return myThrottleRatio; }
  AREXPORT void addFireCallback(int priority, ArFunctor *functor);
  AREXPORT void remFireCallback(ArFunctor *functor);
  AREXPORT void addActivateCallback(ArFunctor *functor, 
                    ArListPos::Pos position = ArListPos::LAST);
  AREXPORT void remActivateCallback(ArFunctor *functor);
  AREXPORT void addDeactivateCallback(ArFunctor *functor, 
                  ArListPos::Pos position = ArListPos::LAST);
  AREXPORT void remDeactivateCallback(ArFunctor *functor);
  AREXPORT void setParameters(double fullThrottleForwards, 
                  double fullThrottleBackwards, 
                  double rotAtFullForwards,
                  double rotAtFullBackwards,
                  double rotAtStopped);
  AREXPORT void addToConfig(ArConfig *config, const char *section);
  AREXPORT virtual ArActionDesired *fire(ArActionDesired currentDesired);
  AREXPORT virtual ArActionDesired *getDesired(void) { return &myDesired; }
#ifndef SWIG
  AREXPORT virtual const ArActionDesired *getDesired(void) const 
                                                        { return &myDesired; }
#endif
  AREXPORT virtual void activate(void);
  AREXPORT virtual void deactivate(void);
protected:
  std::multimap<int, ArFunctor *> myFireCallbacks;
  std::list<ArFunctor *> myActivateCallbacks;
  std::list<ArFunctor *> myDeactivateCallbacks;
  // if we're printing extra information or not
  bool myPrinting;
  double myTransDeadZone;
  double myRotDeadZone;
  double myFullThrottleForwards;
  double myFullThrottleBackwards; 
  double myRotAtFullForwards;
  double myRotAtFullBackwards;
  double myRotAtStopped;
  double myTransRatio;
  double myRotRatio;
  double myThrottleRatio;
  ArActionDesired myDesired;
};

#endif // ARACTIONSTOP_H

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